WO2024217841A1 - Dispositif de retenue - Google Patents

Dispositif de retenue Download PDF

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Publication number
WO2024217841A1
WO2024217841A1 PCT/EP2024/058287 EP2024058287W WO2024217841A1 WO 2024217841 A1 WO2024217841 A1 WO 2024217841A1 EP 2024058287 W EP2024058287 W EP 2024058287W WO 2024217841 A1 WO2024217841 A1 WO 2024217841A1
Authority
WO
WIPO (PCT)
Prior art keywords
holding device
base unit
unit
units
base
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2024/058287
Other languages
German (de)
English (en)
Inventor
Daniel WELKER
Erich Karl Heinz BOHNEN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hydac Ptk Produktionstechnik GmbH
Original Assignee
Hydac Ptk Produktionstechnik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hydac Ptk Produktionstechnik GmbH filed Critical Hydac Ptk Produktionstechnik GmbH
Publication of WO2024217841A1 publication Critical patent/WO2024217841A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0475—Exchangeable fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks

Definitions

  • the invention relates to a holding device.
  • the invention is based on the object of improving the known holding devices.
  • a holding device having the features of patent claim 1 in its entirety solves this problem.
  • the holding device in a preferred embodiment, it is provided that, by means of a fixing device acting between the base and exchange unit, in a moving position of the units relative to one another, these are coupled to one another in the locking position and in a further moving position, which corresponds to the release position, the two units are decoupled from one another.
  • a fixing device acting between the base and exchange unit in a moving position of the units relative to one another, these are coupled to one another in the locking position and in a further moving position, which corresponds to the release position, the two units are decoupled from one another.
  • the fixing device has individual fixing means and associated gripping means, which move towards or away from each other to engage or disengage from each other to maintain the locking position or the release position.
  • the fixing means are formed from individual bolts, which are arranged in pairs on the two opposite longitudinal sides of the exchange unit, and that the gripping means consist of individual hook elements on the base unit, which The associated bolts can be picked up via their hook opening for a locking process in a longitudinal direction or released in the opposite direction. This creates a particularly reliable structure for coupling and uncoupling the two units.
  • the bolt-hook design also allows high forces to be achieved when the base and interchangeable unit are locked.
  • the hook elements arranged in a row one behind the other with their openings pointing in one direction delimit at least one longitudinal guide into which the respectively assignable bolt can be placed starting from the release position and moved along one longitudinal travel direction into the locking position.
  • the base unit can be securely placed on the exchange unit and, due to the longitudinal guide, a secure locking process between the respective bolt and the assignable hook element is ensured.
  • the base unit has a plate-shaped base body on which the respective hook element protrudes in one direction and in the opposite direction at least one coupling element which cooperates with an actuating device which Base unit moves in opposite directions parallel to the respective longitudinal travel direction for feed movements.
  • the respective base unit can be easily coupled to the actuating device, as already shown for controlling and moving jaws in DE 10 2019 104 484 B3 and EP 3 927 504 B1.
  • the exchange unit for fixing third-party components has individual clamping devices, such as
  • the exchange unit has individual receiving means on its side facing away from the base unit for placing the exchange unit on a magazine device in the release position and that, preferably by means of a further, releasable locking device, the respective exchange unit can be fixed to the associated magazine device.
  • the actuating device can be moved with the respective base unit by means of a handling system, as shown by way of example in DE 10 2019 128 931 A1.
  • the further releasable locking device it can preferably be provided that an exchange unit placed on the magazine device remains securely in its magazine position there, until it is picked up again for further handling by the associated base unit.
  • a system comprising at least two holding devices, each as presented above, wherein, in order to apply or release a clamping force by means of the clamping means, the interchangeable units locked to the base units can be moved towards or away from each other in pairs by means of the actuating device shown.
  • the holding device comprising the base unit and, preferably different, interchangeable units can be controlled as a structural unit by means of different actuating devices.
  • Fig. 1 shows a highly simplified representation of an actuating device by means of which two attached holding devices can be moved towards or away from each other as a pair;
  • Fig. 2 shows the pair of holding devices according to Fig. 1, each consisting of a base unit and an exchange unit, which are coupled to one another;
  • Fig. 3 shows a decoupled position of the exchange unit with the base unit according to Fig. 2;
  • Fig. 4 shows a representation corresponding to Fig. 3 without clamping elements for the respective exchange unit
  • Fig. 5 shows, in the form of an exploded view, part of a magazine device onto which the exchange units according to Figs. 1 to 4 can be placed;
  • Fig. 6 and 7 show the interchangeable units intended for storage on the magazine device in two functional positions; once shortly before locking and once in the locked state with the magazine device.
  • the actuating device 10 shown in Fig. 1 has a housing body 12 with a jaw guide 16 which extends in the longitudinal direction 14 through the housing body 12 and which is formed from a continuous longitudinal groove in the housing body 12 which is profiled in cross section and which is open at the top when viewed in the direction of Fig. 1 and is otherwise shown in a simplified rectangular shape.
  • the jaw guide 16 accommodates two axially displaceably mounted jaws 18 which can be moved towards and away from one another along a longitudinal travel direction which runs parallel to the longitudinal direction 14. Only the front left jaw of said jaws is shown in Fig. 1. The back and forth movement of the jaws 18 is shown in Fig. 1 by a double arrow 20.
  • the jaw guide 16 has two opposing side walls 22 and a base 24 arranged between them.
  • All walls 22 as well as the base 24 and the adjacent wall parts of the respective jaw 18 form sliding surfaces with each other, so that the respective jaw 18 can be moved back and forth in the jaw guide 16 along the longitudinal direction 14 without hindrance and with little friction.
  • a corresponding structure of an actuating device 10 is shown as an example in DE 10 2019 104 484 B3.
  • the jaw guide 16 extends over the entire length of the housing body 12 and the two jaws 18 have a smaller axial extension in order to enable, for example, a stroke of 30 mm per jaw 18, so that both jaws 18 can perform a total stroke of 60 mm towards or away from each other, wherein in Fig. 1 the two jaws 18 are in their starting or basic position, as shown for the left jaw 18.
  • Surfaces 26 are formed to the right and left adjacent to the channel-like or groove-shaped jaw guide 16.
  • Two holding devices 30, 32 are arranged opposite one another, placed at a predeterminable distance from the horizontally extending surfaces 26 and firmly connected to the respectively assignable jaws 18 in a detachable manner, and are shown in more detail in Figs. 2 to 4.
  • the holding device 30, 32 according to the illustration in Fig. 2 has at least one protruding coupling element 34 on its underside, for example in the form of a screw bolt, with which the respective coupling element 30, 32 can be fixed in a releasable manner to the jaw 18 assigned to it.
  • the respective coupling element 30, 32 can be fixed in a releasable manner to the jaw 18 assigned to it.
  • two fixing screws are provided as coupling elements 34 for each jaw 18 for each holding device 30, 32 in a modified version. Other fixing options are conceivable here.
  • the respective holding device 30, 32 consists of at least a base unit 36 and a change unit 38, which are guided longitudinally movable relative to one another from a locking position according to Fig. 2, in which they are connected to one another, into a release position according to Fig. 3 and vice versa. are movable, wherein in the release position according to Fig. 3 the change unit 38 is separated from the base unit 36.
  • the base unit 36 is formed from a plate-shaped base body with a continuous longitudinal groove 40, along which the attached change unit 38 is guided so as to be longitudinally movable until it reaches a stop as shown in Figs. 1 and 2, in that the block-shaped change unit 38 fits precisely into the longitudinal groove 40 of the base unit 36 on the bottom side. In this way, a type of rail system for the guidance between the two units 36, 38 is achieved.
  • a fixing device 42 acting as a whole between the base unit 36 and the change unit 38, in a moving position of the units 36, 38 relative to one another they are coupled to one another in the locking position according to Figs. 1 and 2 and decoupled from one another in a further moving position which corresponds to the release position according to Figs. 3 and 4.
  • the respective change unit 38 can be removed from the remaining base unit 36 in the vertical direction as viewed in the direction of Figs. 3 and 4.
  • the change unit 38 can also be held in a predeterminable position and the base unit 36 can be placed perpendicularly to it.
  • the fixing device 42 has individual fixing means and associated gripping means, which move towards or away from each other to engage or disengage with each other to maintain the locking position or the release position.
  • the fixing means are formed from individual solid bolts 44 with, for example, a circular cross-section, which are arranged in pairs on the two opposite long sides 46 of the respective exchange unit 38. Other cross-sections, such as rectangular, oval, etc., are possible here. In total, four bolts 44 per exchange unit 38 extend along the two opposite long sides 46 with a predeterminable overhang.
  • the associated gripping means in turn consist of individual hook elements 48 on the base unit 36, which are provided with interruptions on the edge and delimit the respective longitudinal groove 40 of the base unit 36.
  • the respective hook opening of the hook elements 48 is in any case selected such that an assignable bolt 44 for locking can at least partially engage under the hook element 48 and is held in the locking position as shown in Figs. 1 and 2.
  • the hook elements 48 are also positioned in paired groups on the longitudinal sides of the base unit 36 opposite one another.
  • the exchange unit 38 moves from right to left for the left holding device 30 until the hook elements 48 engage over the bolts 44 in a fixing manner, thereby resulting in the fixing or locking position according to Figs. 1 and 2.
  • the locking for the right-hand holding device 32 takes place in the opposite direction from left to right.
  • the hook elements 48 arranged in a row one behind the other along a long side of the base unit 36 with their openings pointing in one direction delimit a bottom-side longitudinal guide 50 onto which the respectively assignable bolts 44 can be placed from above in the direction of view in Figs.
  • the bolts 44 are held in their locking position within the assignable hook elements 48 by a locking device 52 in their locking position.
  • the locking device 52 in question consists regularly and in a known manner of a spring-loaded pressure piece, whereby the pressure piece releases the path out of the opening of the hook element 48 against the spring action as soon as the respective bolt 44 passes over the locking device 52 with a predeterminable displacement force.
  • Bolt 44 and hook elements 48 protrude beyond the longitudinal groove 40 of the base unit 36 and are arranged lying on a plateau which is essentially formed by the respective longitudinal guide 50.
  • the exchange unit 38 can be designed in several parts and has a base part 54 which is cuboid-shaped and has rows of bolts with two bolts 44 each along its two lower longitudinal sides, the axial distance between which, viewed parallel to the longitudinal direction 14, corresponds to the distance between two adjacent hook elements 48 in relation to the base of the respective circular opening.
  • the base part 54 has two strip-shaped, downwardly projecting longitudinal guides 56 on its underside facing the base unit 36, which enable secure guidance between the base part 54 and the base unit 36 and help to reduce the sliding resistance accordingly.
  • a hole 58 is provided on the opposite upper side of the block- or cuboid-shaped base part 54, the hole pattern being adapted to the engagement possibility of screws with which exchange units 38 of various designs can be placed on the base part 54.
  • the left-hand holding device 30 as viewed in the direction of Figs. 1 to 3 with its adapter unit 60, which can be designed in a modular manner to suit the respective work task, is designed in a stepped construction with two horizontally running surfaces 62 and two vertically running surfaces 64.
  • a corresponding, stepped structure is also selected for the right-hand holding device 32 as viewed in the direction of the figures, which nevertheless has a different structure to the holding device 30.
  • the surfaces 62, 64 mentioned could, in particular in the interaction of the two holding devices 30, 32 with each other, be provided as contact or support surfaces and thus as clamping means for third components to be fixed, such as metal plates.
  • the vertically running surfaces 64 have at least one pendulum bearing.
  • supports 66 which are used exclusively as clamping means on both holding devices 30, 32, so that the horizontally extending surfaces 62 do not necessarily have to be used as supports for third-party components.
  • the two adapter units 60 of the holding device 30 and the holding device 32 have individual gripper fingers at the point of transition to the screwed-on base part 54, which are arranged in gripper finger pairs 68 and, when the base unit 36 is coupled to the exchange unit 38, protrude both beyond the base unit 36 and beyond the base part 54.
  • the holding device 32 only has one gripper finger pair 68 in the middle
  • the adapter unit 60 of the holding device 30 has two such gripper finger pairs 68, which limit a distance between them in such a way that the gripper finger pair 68 of the holding device 32 can engage flush, as is shown by way of example in the illustration according to Fig. 3.
  • the opposing gripper finger pairs 68 would in principle be suitable for holding individual third-party components between them as additional clamping means.
  • the gripper finger pairs 68 delimit a passage space 70 between them as shown in Fig.
  • a hydraulic or pneumatic control part (not shown) which is connected to the housing body 12 has space in a receiving space 72 arranged between them in every travel position of the holding device 30, 32 and is guided in the passage space 70 with protruding bolt-like components when the holding devices 30, 32 are moved towards one another as shown in Fig. 3, which usually corresponds to a clamping position, provided that the The base units 36 coupled to the respective exchange units 38 follow this movement via the jaws 18 of the actuating device 10.
  • the relevant storage plate 80 with its receptacles 76 can be expanded in all directions or several such storage plates 80 multiplied in the transverse and longitudinal directions form the magazine device 78 as a whole, which is constructed from standardized components, i.e. the storage plates 80.
  • a handling device (robot) (not shown) engaging the underside 82 of the housing body 12 is able to turn the arrangement shown in Fig. 1 upside down, whereby for this movement process the respective base unit 36 should be connected in a locked manner to the exchange unit 38.
  • the unit according to Fig. 1 can be placed on the support plate 80 shown in Fig. 5 by means of the handling device, whereby for the sake of simplicity only a part of the housing body 12 according to Fig. 1 is shown in Fig. 5.
  • the receiving bolts 76 of the plate 80 which are grouped in pairs, then engage in the associated engagement holes 74 of both holding devices 30, 32. If the housing body 12 of the actuating device 10 is equipped with only one holding device 30 or 32, such an exchange process can also be carried out for just this one individual holding device 30 or 32 by placing it on a storage plate 80 of the magazine device 78. Although not explained in more detail, the exchange units 38 can also be separated by hand from the respective associated base unit 36 and placed on the storage plate 80 of the magazine device 78, with the respective base unit 36 remaining connected to the jaws 18 on the actuating device 10.
  • the base unit 36 of the actuating device 10 which then remains on the housing body 12, can then be moved to another location on the magazine device 78 using the handling system in order to be able to accommodate interchangeable units 30, 32 of a different or identical design.
  • a product range of third-party components in the form of rectangular components 40 x 40 mm up to 200 x 200 mm and more can be handled with only a small number of holding devices, for example in the form of the two holding devices 30, 32 shown in the figures.
  • a further detachable locking device 84 is provided as a whole as shown in Figures 6 and 7.
  • the respective holding device 30, 32 is in turn firmly connected to the respectively assigned jaws 18 of the actuating device 10 by means of coupling elements 34 in the form of individual screw bolts.
  • the respective further, second locking device 84 has a two-armed pivot lever 86 which is guided so as to pivot about a horizontal pivot axis 88.
  • the respective pivot lever 86 which is guided so as to pivot about the pivot axis 88 on the base unit 36 of each holding device 30, 32, is supported with one free end on a spring-loaded pressure piece 90 of the base unit 36 and is provided with a contact surface on its other free end.
  • the spring-loaded pressure piece 90 exerts a force on the pivot lever 86 of the holding device 32 in the direction of a pivoting movement about the pivot axis 88 in an anti-clockwise direction.
  • the pivot lever 86 is acted upon by the spring-loaded pressure piece 90 in the direction of a pivoting movement about the pivot axis 88 in a clockwise direction.
  • an actuating pin 92 is connected to the respective storage plate 80, which protrudes upwards over the top of the storage plate 80 by a predeterminable actuating distance and is otherwise firmly connected to the base side, for example via a screw connection. If the actuating device 10 as a whole, i.e. with its attachments, is moved from the position according to Fig. 6 to the position according to Fig.
  • the base units 36 arranged thereon can be moved from their coupled position according to Fig. 2 into the released position according to Fig. 3 and the respective change unit 38 with its released bolt pairs 44 remains on the magazine device 78.
  • the actuating device 10 can then be moved to another storage plate 80 by means of the handling device with correspondingly magazined holding devices, which can then be moved in reverse order by means of the The actuating device 10 and the base units 36 arranged thereon can be removed from the support plate 80 for further gripping and clamping processes of third-party components.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Clamps And Clips (AREA)

Abstract

L'invention concerne un dispositif de retenue comprenant au moins une unité de base (36) et une unité de changement (38), ladite unité de base et ladite unité de changement étant mobiles longitudinalement l'une par rapport à l'autre d'une manière guidée d'une position de verrouillage, dans laquelle l'unité de base et l'unité de changement sont reliées l'une à l'autre, à une position de libération, dans laquelle les deux unités (36, 38) sont séparées, et inversement.
PCT/EP2024/058287 2023-04-21 2024-03-27 Dispositif de retenue Pending WO2024217841A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102023001583.0 2023-04-21
DE102023001583.0A DE102023001583A1 (de) 2023-04-21 2023-04-21 Haltevorrichtung

Publications (1)

Publication Number Publication Date
WO2024217841A1 true WO2024217841A1 (fr) 2024-10-24

Family

ID=90717427

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2024/058287 Pending WO2024217841A1 (fr) 2023-04-21 2024-03-27 Dispositif de retenue

Country Status (2)

Country Link
DE (1) DE102023001583A1 (fr)
WO (1) WO2024217841A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4660274A (en) * 1985-11-29 1987-04-28 Goumas Peter G Robot tool changing apparatus
DE202009016241U1 (de) * 2009-11-27 2010-03-04 Felsomat Gmbh & Co. Kg Greifer mit Wechselbacken, die durch einen Verriegelungsschlitten gesichert werden
DE102019104484B3 (de) 2019-02-21 2020-08-13 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Greif- oder Spannvorrichtung mit Gleitführung und Wälzführung zwischen Backenführungsflächen und Gehäuse
DE102019128931A1 (de) 2019-10-25 2021-04-29 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Ausgleichseinheit für eine Automatisierungsanlage
US11364640B1 (en) * 2021-04-16 2022-06-21 Sirius Automation Group Inc. Automatic end-of-arm tool changers for automated robotic systems
EP3927504B1 (fr) 2019-03-25 2022-09-28 Schunk GmbH & Co. KG Spann- und Greiftechnik Dispositif de préhension ou de serrage avec une course élargie

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9757863B2 (en) * 2015-01-30 2017-09-12 Canon Kabushiki Kaisha Robot apparatus, exchanger apparatus and robot system
DE102016004087A1 (de) * 2016-02-15 2017-08-17 Kastanienbaum GmbH Effektoreinheit für einen Roboter, Arbeitsvorrichtung mit einem Roboter und Verfahren zum Wechseln eines Effektors bei Robotern
WO2018088289A1 (fr) * 2016-11-08 2018-05-17 Thk株式会社 Griffe de préhension et mécanisme de fixation/détachement de griffe de préhension

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4660274A (en) * 1985-11-29 1987-04-28 Goumas Peter G Robot tool changing apparatus
DE202009016241U1 (de) * 2009-11-27 2010-03-04 Felsomat Gmbh & Co. Kg Greifer mit Wechselbacken, die durch einen Verriegelungsschlitten gesichert werden
DE102019104484B3 (de) 2019-02-21 2020-08-13 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Greif- oder Spannvorrichtung mit Gleitführung und Wälzführung zwischen Backenführungsflächen und Gehäuse
EP3927504B1 (fr) 2019-03-25 2022-09-28 Schunk GmbH & Co. KG Spann- und Greiftechnik Dispositif de préhension ou de serrage avec une course élargie
DE102019128931A1 (de) 2019-10-25 2021-04-29 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Ausgleichseinheit für eine Automatisierungsanlage
US11364640B1 (en) * 2021-04-16 2022-06-21 Sirius Automation Group Inc. Automatic end-of-arm tool changers for automated robotic systems

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Publication number Publication date
DE102023001583A1 (de) 2024-10-24

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